CN106311532A - Sectional spraying device for inward-concave curved surface of robot shell and spraying method of sectional spraying device - Google Patents
Sectional spraying device for inward-concave curved surface of robot shell and spraying method of sectional spraying device Download PDFInfo
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- CN106311532A CN106311532A CN201610914333.4A CN201610914333A CN106311532A CN 106311532 A CN106311532 A CN 106311532A CN 201610914333 A CN201610914333 A CN 201610914333A CN 106311532 A CN106311532 A CN 106311532A
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- Prior art keywords
- conical nozzle
- mozzle
- flow
- pod apertures
- nozzle
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B1/00—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means
- B05B1/02—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means designed to produce a jet, spray, or other discharge of particular shape or nature, e.g. in single drops, or having an outlet of particular shape
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B1/00—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means
- B05B1/02—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means designed to produce a jet, spray, or other discharge of particular shape or nature, e.g. in single drops, or having an outlet of particular shape
- B05B1/06—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means designed to produce a jet, spray, or other discharge of particular shape or nature, e.g. in single drops, or having an outlet of particular shape in annular, tubular or hollow conical form
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B1/00—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means
- B05B1/14—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means with multiple outlet openings; with strainers in or outside the outlet opening
- B05B1/16—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means with multiple outlet openings; with strainers in or outside the outlet opening having selectively- effective outlets
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B1/00—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means
- B05B1/26—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means with means for mechanically breaking-up or deflecting the jet after discharge, e.g. with fixed deflectors; Breaking-up the discharged liquid or other fluent material by impinging jets
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B1/00—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means
- B05B1/34—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means designed to influence the nature of flow of the liquid or other fluent material, e.g. to produce swirl
- B05B1/3405—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means designed to influence the nature of flow of the liquid or other fluent material, e.g. to produce swirl to produce swirl
- B05B1/341—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means designed to influence the nature of flow of the liquid or other fluent material, e.g. to produce swirl to produce swirl before discharging the liquid or other fluent material, e.g. in a swirl chamber upstream the spray outlet
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
- B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
- B05B12/085—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to flow or pressure of liquid or other fluent material to be discharged
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
- B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
- B05B12/085—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to flow or pressure of liquid or other fluent material to be discharged
- B05B12/087—Flow or presssure regulators, i.e. non-electric unitary devices comprising a sensing element, e.g. a piston or a membrane, and a controlling element, e.g. a valve
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
- B05B12/14—Arrangements for controlling delivery; Arrangements for controlling the spray area for supplying a selected one of a plurality of liquids or other fluent materials or several in selected proportions to a spray apparatus, e.g. to a single spray outlet
- B05B12/1472—Arrangements for controlling delivery; Arrangements for controlling the spray area for supplying a selected one of a plurality of liquids or other fluent materials or several in selected proportions to a spray apparatus, e.g. to a single spray outlet separate supply lines supplying different materials to separate outlets of the spraying apparatus
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
- B05B12/16—Arrangements for controlling delivery; Arrangements for controlling the spray area for controlling the spray area
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0075—Manipulators for painting or coating
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Spray Control Apparatus (AREA)
- Nozzles (AREA)
Abstract
The invention discloses a sectional spraying device for an inward-concave curved surface of a robot shell. The sectional spraying device comprises a spraying head which is mounted on a five-degree-of-freedom manipulator. A laser distance measuring sensor is arranged on the outer side of the spraying head. The spraying head comprises a first conical nozzle located on the outer side and a second conical nozzle which is movably arranged in the first conical nozzle. The first conical nozzle and the second conical nozzle are connected with a first feeding pipe and a second feeding pipe correspondingly. A first guide pipe is arranged inside the second feeding pipe. The first guide pipe and the second conical nozzle are connected through an air cylinder, and the extension direction of the air cylinder is parallel to the paint flowing direction. The bottom of the first guide pipe is located in the second conical nozzle. A spiral groove is formed in the inner surface of the second conical nozzle. The invention further discloses a spraying method of the spraying device. By adoption of the sectional spraying device for the inward-concave curved surface of the robot shell and the spraying method of the sectional spraying device, the defects of the prior art can be overcome, and the uniformity control precision during spraying of concave curved-surface structures is improved.
Description
Technical field
The present invention relates to surface spraying technical field, especially a kind of robot shells inner sunken face stagewise spray equipment
And spraying method.
Background technology
Along with the development of automatic technology, automatic assembly line is configured with a lot of robot and carries out production operation, its effect
Rate is high, and stability is strong, serves liberation human resources, effect of reduction production cost.In order to ensure the service life of robot,
Its surface needs rust prevention by applying liquid material lacquer painting to protect.Existing spraying equipment is when spraying the surface of concave curved surface structure, for being coated with
The uniformity of layer spraying controls not accurate enough.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of robot shells inner sunken face stagewise spray equipment and spraying thereof
Method, it is possible to solve the deficiencies in the prior art, improve uniformity control accuracy when concave curved surface structure is sprayed.
For solving above-mentioned technical problem, the technical solution used in the present invention is as follows.
A kind of robot shells inner sunken face stagewise spray equipment, including shower nozzle, described shower nozzle is arranged on five degree of freedom
On robot arm, the outside of shower nozzle is provided with laser range sensor；Shower nozzle includes first conical nozzle in outside and is positioned at first
The second conical nozzle that conical nozzle internal activity is arranged, the first conical nozzle and the second conical nozzle are connected to the first confession
Material pipe and the second feeder sleeve, the second feeder sleeve is wrapped on wheel disc, and wheel disc connects its servomotor rotated of driving, and second supplies
Material pipe is internally provided with the first mozzle, is connected by cylinder between the first mozzle and the second conical nozzle, stretching of cylinder
Direction is parallel to each other with the flow direction of coating, and the bottom of the first mozzle is positioned at the second conical nozzle, the second conical nozzle
Inner surface be provided with helical groove；The first pressure transducer and first flow sensor it is provided with in first feeder sleeve, second
The second pressure transducer and second flow sensor it is provided with in feeder sleeve；Also include controller and be connected on the first feeder sleeve
The first charging pump, the second charging pump being connected on the second feeder sleeve, the input of controller respectively with laser ranging sense
Device, the first pressure transducer, first flow sensor, the second pressure transducer are connected with second flow sensor, controller
Outfan respectively with five degree of freedom robot arm, servomotor and cylinders.
As preferably, the bottom symmetrical of described helical groove is provided with two the first pod apertures, the top of the first pod apertures
It is interconnected, between top and the helical groove bottom surface of the first pod apertures, is provided with the second pod apertures, the second pod apertures and spiral
The bottom surface of groove is mutually perpendicular to；First pod apertures is provided above the first deflector with the interface of helical groove bottom surface, and first leads
The bottom surface of stream plate is fixed on the bottom surface of helical groove, and the first deflector tilts to set towards coating at the flow direction of helical groove
Putting, the first deflector is 27 ° with the angle of helical groove, and the bottom surface of the first deflector is provided with curved flanges.
As preferably, described first pod apertures is provided with the second mozzle, the second water conservancy diversion with the junction of the second pod apertures
The axis of pipe and the axis of the second pod apertures overlap, and the second mozzle is hyperboloid of one sheet shape, the second mozzle sidewall
Point midway be provided with the first through hole, the inwall of the first through hole is provided with several first spring bodies of annular arrangement, first
The top of spring body connects several the first deflection plates, and the end face of the first deflection plate is provided with arc groove, adjacent first
Deflection plate mutually slides overlap joint.
As preferably, described first mozzle includes the tapered portion at top and is positioned at the cylindrical portion below tapered portion.
As preferably, described tapered portion is provided with flow guiding disc with the junction of cylindrical portion, and flow guiding disc is provided with several
Second through hole, the lower section of the second through hole connects the 3rd mozzle, and the bottom surface of the 3rd mozzle is concordant with the bottom surface of cylindrical portion, the
The sidewall of three mozzles is provided with several third through-holes.
As preferably, the bottom of described cylindrical portion is provided with the second deflector, and the second deflector is provided with slit, slit
Outside is provided with the second deflection plate.
The spraying method of a kind of above-mentioned robot shells inner sunken face stagewise spray equipment, comprises the following steps:
A, controller detect concave surface central point by laser range sensor, control five degree of freedom robot arm and move shower nozzle to recessed
Face central point；
B, open the first charging pump, use five degree of freedom robot arm to control shower nozzle and concave surface is carried out pre-spraying；
After C, the coating layer thickness of concave surface reach 3～5 μm, opening the second charging pump, the flow adjusting the first charging pump is initial flow
The 70%～80% of amount, the flow of the second charging pump is the 40%～50% of the first charging pump initial flow.
As preferably, in step C, when original state, the second conical nozzle bottom surface is positioned on the first conical nozzle bottom surface
At side 10mm～15mm, along with the increase of coating layer thickness, the second conical nozzle is gradually to the outer side shifting of the first conical nozzle；Control
Device processed sprays the requirement rotating area according to the changes in flow rate in the first feeder sleeve monitored and the second conical nozzle, controls gas
Cylinder drives the first mozzle to be adjusted.
What employing technique scheme was brought has the beneficial effects that: the present invention is by the spray of socket inside and outside design two
Mouth, utilizes the helical groove of the second conical nozzle inner surface to realize the outside rotation of paint vehicle and sprays state, itself and the first tapered injection
The paint vehicle of outspoken line ejection mixes at shower nozzle, changes the spraying state of paint vehicle, it is achieved that the even application of paint vehicle.Spiral shell
When paint vehicle in rotation groove flows through the first deflector, the first deflector serves guide functions to paint vehicle so that the first deflector
Low-pressure area formed below.Under the effect of pressure differential, paint vehicle flows into from the second pod apertures, flows out through the first pod apertures, makes
Obtain the paint vehicle in helical groove and the trend that local circulation flows occurs, thus serve the work expanding paint vehicle rotational flow scope
With.Curved flanges can reduce the paint vehicle paint vehicle flow direction internal for the second conical nozzle flowed out from the first pod apertures and do
Disturb.Second mozzle can improve the first pod apertures and the flowing velocity of the internal paint vehicle of the second pod apertures, thus improves paint vehicle office
The scope of portion's flowing.The internal structure of the first mozzle can reduce the turbulent flow of the internal paint vehicle flow process of the first mozzle, from
And be easy to helical groove and form the trend of rotational flow.Second deflector can reduce what the linear sprayed by cylindrical portion flowed
Paint vehicle and in the second conical nozzle the influencing each other of the paint vehicle of rotational flow.By using two nozzles to carry out separate
Spray painting control, can effectively regulate abundance and the spray angle of paint vehicle on shower nozzle diverse location, thus improve for concave curved surface
Spraying degree of accuracy.
Accompanying drawing explanation
Fig. 1 is the structure chart of one detailed description of the invention of the present invention.
Fig. 2 is the structure chart of shower nozzle in one detailed description of the invention of the present invention.
Fig. 3 is the structure chart of helical groove in one detailed description of the invention of the present invention.
Fig. 4 is the structure chart of the first deflector in one detailed description of the invention of the present invention.
Fig. 5 is the structure chart in one detailed description of the invention of the present invention within the first through hole.
Fig. 6 is the structure chart of the first mozzle in one detailed description of the invention of the present invention.
In figure: 1, shower nozzle；2, five degree of freedom robot arm；3, laser range sensor；4, the first conical nozzle；5, the second cone
Shape nozzle；6, the first feeder sleeve；7, the second feeder sleeve；8, wheel disc；9, servomotor；10, the first mozzle；11, cylinder；12、
Helical groove；13, the first pod apertures；14, the second pod apertures；15, the first deflector；16, curved flanges；17, the second mozzle；
18, the first through hole；19, the first spring body；20, the first deflection plate；21, tapered portion；22, cylindrical portion；23, flow guiding disc；24, second
Through hole；25, the 3rd mozzle；26, third through-hole；27, the second deflector；28, slit；29, the second deflection plate；30, controller；
31, the first pressure transducer；32, first flow sensor；33, the second pressure transducer；34, second flow sensor；35,
One ring baffle；36, the second ring baffle；37, fourth hole；38, arc groove；39, the first charging pump；40, the second feed
Pump.
Detailed description of the invention
The standardized element that uses in the present invention all can commercially, shaped piece according to description and accompanying drawing
Record all can carry out customized, and the concrete connected mode of each part all uses the bolt of maturation, rivet, weldering in prior art
Connect, the conventional means such as stickup, be not described in detail in this.
With reference to Fig. 1-6, one detailed description of the invention of the present invention includes that shower nozzle 1, described shower nozzle 1 are arranged on five degree of freedom machine
On hands 2, the outside of shower nozzle 1 is provided with laser range sensor 3；Shower nozzle 1 includes first conical nozzle 4 in outside and is positioned at first
The second conical nozzle 5 that conical nozzle 4 internal activity is arranged, the first conical nozzle 4 and the second conical nozzle 5 are connected to the
One feeder sleeve 6 and the second feeder sleeve 7, the second feeder sleeve 7 is wrapped on wheel disc 8, and wheel disc 8 connects servo electricity driving its rotation
Machine 9, the second feeder sleeve 7 is internally provided with the first mozzle 10, passes through cylinder between the first mozzle 10 and the second conical nozzle 5
11 connect, and the telescopic direction of cylinder 11 is parallel to each other with the flow direction of coating, and the bottom of the first mozzle 10 is positioned at the second cone
In shape nozzle 5, the inner surface of the second conical nozzle 5 is provided with helical groove 12；It is provided with the first pressure in first feeder sleeve 6 to pass
Sensor 31 and first flow sensor 32, be provided with the second pressure transducer 33 and second flow sensor in the second feeder sleeve 7
34；Also include controller 30 and the first charging pump 39 being connected on the first feeder sleeve 6, the be connected on the second feeder sleeve 7
Two charging pumps 40, the input of controller 30 passes with laser range sensor the 3, first pressure transducer 31, first flow respectively
Sensor the 32, second pressure transducer 33 is connected with second flow sensor 34, the outfan of controller 30 respectively with five degree of freedom
Robot arm 2, servomotor 9 are connected with cylinder 11.The bottom symmetrical of helical groove 12 is provided with two the first pod apertures 13, and first
The top of pod apertures 13 is interconnected, and is provided with the second pod apertures between top and helical groove 12 bottom surface of the first pod apertures 13
14, the second pod apertures 14 is mutually perpendicular to the bottom surface of helical groove 12；First pod apertures 13 and the interface of helical groove 12 bottom surface
Being provided above the first deflector 15, the bottom surface of the first deflector 15 is fixed on the bottom surface of helical groove 12, the first deflector
15 are obliquely installed towards coating at the flow direction of helical groove 12, and the first deflector 15 is 27 ° with the angle of helical groove 12,
The bottom surface of the first deflector 15 is provided with curved flanges 16.The junction of the first pod apertures 13 and the second pod apertures 14 is provided with
Two mozzles 17, the axis of the second mozzle 17 and the axis of the second pod apertures 14 overlap, and the second mozzle 17 is single leaf
Double-curved shapes, the point midway of the second mozzle 17 sidewall is provided with the first through hole 18, and the inwall of the first through hole 18 is provided with
Several first spring bodies 19 of annular arrangement, the top of the first spring body 19 connects several the first deflection plates 20, and first
The end face of deflection plate 20 is provided with arc groove 38, and the first adjacent deflection plate 20 mutually slides overlap joint.First mozzle 10 wraps
Include the tapered portion 21 at top and be positioned at the cylindrical portion 22 below tapered portion 21.Tapered portion 21 is provided with the junction of cylindrical portion 22
Flow guiding disc 23, flow guiding disc 23 is provided with several the second through holes 24, and the lower section of the second through hole 24 connects the 3rd mozzle 25,
The bottom surface of the 3rd mozzle 25 is concordant with the bottom surface of cylindrical portion 22, and the sidewall of the 3rd mozzle 25 is provided with several third through-holes
26.The bottom of cylindrical portion 22 is provided with the second deflector 27, and the second deflector 27 is provided with slit 28, arranges outside slit 28
There is the second deflection plate 29.
The spraying method of a kind of above-mentioned robot shells inner sunken face stagewise spray equipment, comprises the following steps:
A, controller 30 detect concave surface central point by laser range sensor 3, control five degree of freedom robot arm 2 and are moved by shower nozzle 1
Move to concave surface central point；
B, open the first charging pump 39, use five degree of freedom robot arm 2 to control shower nozzle 1 and concave surface is carried out pre-spraying；
After C, the coating layer thickness of concave surface reach 3～5 μm, open the second charging pump 40, adjust the flow of the first charging pump 39 for just
The 75% of beginning flow, the flow of the second charging pump 40 is the 50% of the first charging pump 39 initial flow.
In step C, when original state, the second conical nozzle 5 bottom surface be positioned at above the first conical nozzle 4 bottom surface 10mm～
At 15mm, along with the increase of coating layer thickness, the second conical nozzle 5 is gradually to the outer side shifting of the first conical nozzle 4；Controller 30
Spray the requirement rotating area according to the changes in flow rate in the first feeder sleeve 6 monitored and the second conical nozzle 5, control cylinder
11 drive the first mozzle 10 to be adjusted.
In spraying process, spraying flow and the spraying of the first conical nozzle 4 and the second conical nozzle 5 are pressed by controller 30
Power monitors in real time, and the control modulation trnasfer function of flow is:
Wherein,。
The control modulation trnasfer function of pressure is:
Wherein。
k1～k8For proportionality coefficient, h is film thickness, and P is the real-time pressure of target nozzle, and F is the real-time streams of target nozzle
Amount.The design parameter of control modulation trnasfer function is tested according to operating mode and then determines.Wherein for k1And k6Optimization, Ke Yiyou
Effect raising nozzle flow is relative stable with pressure.
It addition, in order to reduce further when shower nozzle adjusts for flow and the impact of pressure, in the first conical nozzle 4
Wall is provided with first annular baffle plate 35, and the outer wall of the second conical nozzle 5 is provided with the second ring baffle 36, first annular baffle plate 35
With the angle that second between plane residing for ring baffle 36 is 35 °, first annular baffle plate 35 is positioned at the upper of the second ring baffle 36
Side, the second ring baffle 36 is provided with several fourth holes 37.When the second conical nozzle 5 is outside the first conical nozzle 4
During side shifting, the flow channel space that sprays paint of the first conical nozzle 4 is gradually reduced by compression, the most first annular baffle plate 35 for
On second ring baffle 36, the stop area of fourth hole 37 is gradually reduced, thus empty to the runner that sprays paint of the first conical nozzle 4
Between by compression reduction buffer.
The present invention can be effectively improved the uniformity of concave curved surface spraying.
The ultimate principle of the present invention and principal character and advantages of the present invention have more than been shown and described.The technology of the industry
Personnel, it should be appreciated that the present invention is not restricted to the described embodiments, simply illustrating this described in above-described embodiment and description
The principle of invention, without departing from the spirit and scope of the present invention, the present invention also has various changes and modifications, and these become
Change and improvement both falls within scope of the claimed invention.Claimed scope by appending claims and
Equivalent defines.
Claims (8)
1. a robot shells inner sunken face stagewise spray equipment, including shower nozzle (1), it is characterised in that: described shower nozzle (1)
Being arranged on five degree of freedom robot arm (2), the outside of shower nozzle (1) is provided with laser range sensor (3)；Outside shower nozzle (1) includes
First conical nozzle (4) of side and be positioned at the second conical nozzle (5) that the first conical nozzle (4) internal activity is arranged, the first cone
Shape nozzle (4) and the second conical nozzle (5) are connected to the first feeder sleeve (6) and the second feeder sleeve (7), the second feeder sleeve
(7) being wrapped on wheel disc (8), wheel disc (8) connects the servomotor (9) driving its rotation, and the second feeder sleeve (7) is internal to be arranged
There is the first mozzle (10), be connected by cylinder (11) between the first mozzle (10) with the second conical nozzle (5), cylinder (11)
The flow direction of telescopic direction and coating be parallel to each other, the bottom of the first mozzle (10) is positioned at the second conical nozzle (5),
The inner surface of the second conical nozzle (5) is provided with helical groove (12)；First feeder sleeve is provided with the first pressure transducer in (6)
(31) and first flow sensor (32), it is provided with the second pressure transducer (33) in the second feeder sleeve (7) and second flow passes
Sensor (34)；Also include controller (30) and the first charging pump (39) being connected on the first feeder sleeve (6), be connected to the second confession
Material pipe (7) on the second charging pump (40), the input of controller (30) respectively with laser range sensor (3), the first pressure
Sensor (31), first flow sensor (32), the second pressure transducer (33) are connected with second flow sensor (34), control
The outfan of device (30) is connected with five degree of freedom robot arm (2), servomotor (9) and cylinder (11) respectively.
Robot shells inner sunken face stagewise spray equipment the most according to claim 1, it is characterised in that: described spiral
The bottom symmetrical of groove (12) is provided with two the first pod apertures (13), and the top of the first pod apertures (13) is interconnected, and first
It is provided with the second pod apertures (14), the second pod apertures (14) and spiral shell between top and helical groove (12) bottom surface of pod apertures (13)
The bottom surface of rotation groove (12) is mutually perpendicular to；First pod apertures (13) is provided above first with the interface of helical groove (12) bottom surface
Deflector (15), the bottom surface of the first deflector (15) is fixed on the bottom surface of helical groove (12), the first deflector (15) towards
The coating flow direction in helical groove (12) is obliquely installed, and the first deflector (15) is 27 ° with the angle of helical groove (12),
The bottom surface of the first deflector (15) is provided with curved flanges (16).
Robot shells inner sunken face stagewise spray equipment the most according to claim 2, it is characterised in that: described first
The junction of pod apertures (13) and the second pod apertures (14) is provided with the second mozzle (17), the axis of the second mozzle (17) with
The axis of the second pod apertures (14) overlaps, and the second mozzle (17) is hyperboloid of one sheet shape, the second mozzle (17) side
The point midway of wall is provided with the first through hole (18), and the inwall of the first through hole (18) is provided with several first bullets of annular arrangement
Spring body (19), the top of the first spring body (19) connects several the first deflection plates (20), the end face of the first deflection plate (20)
Being provided with arc groove (38), adjacent the first deflection plate (20) mutually slides overlap joint.
Robot shells inner sunken face stagewise spray equipment the most according to claim 3, it is characterised in that: described first
Mozzle (10) includes the tapered portion (21) at top and is positioned at the cylindrical portion (22) of tapered portion (21) lower section.
Robot shells inner sunken face stagewise spray equipment the most according to claim 4, it is characterised in that: described taper
Portion (21) is provided with flow guiding disc (23) with the junction of cylindrical portion (22), and flow guiding disc (23) is provided with several second through holes
(24), the lower section of the second through hole (24) connects the 3rd mozzle (25), the bottom surface of the 3rd mozzle (25) and cylindrical portion (22)
Bottom surface concordant, the sidewall of the 3rd mozzle (25) is provided with several third through-holes (26).
Robot shells inner sunken face stagewise spray equipment the most according to claim 4, it is characterised in that: described cylindricality
The bottom in portion (22) is provided with the second deflector (27), and the second deflector (27) is provided with slit (28), slit (28) outside
It is provided with the second deflection plate (29).
7. the spraying side of the robot shells inner sunken face stagewise spray equipment described in a claim 1-6 any one
Method, it is characterised in that comprise the following steps:
A, controller (30) detect concave surface central point by laser range sensor (3), and controlling five degree of freedom robot arm (2) will spray
Head (1) is mobile to concave surface central point；
B, open the first charging pump (39), use five degree of freedom robot arm (2) to control shower nozzle (1) and concave surface is carried out pre-spraying；
After C, the coating layer thickness of concave surface reach 3～5 μm, open the second charging pump (40), adjust the flow of the first charging pump (39)
For the 70%～80% of initial flow, the flow of the second charging pump (40) is the 40%～50% of the first charging pump (39) initial flow.
The spraying method of robot shells inner sunken face stagewise spray equipment the most according to claim 7, its feature exists
In: in step C, when original state, the second conical nozzle (5) bottom surface be positioned at above the first conical nozzle (4) bottom surface 10mm～
At 15mm, along with the increase of coating layer thickness, the second conical nozzle (5) is gradually to the outer side shifting of the first conical nozzle (4)；Control
Device (30) rotates wanting of area according to the changes in flow rate in the first feeder sleeve (6) monitored and the second conical nozzle (5) injection
Ask, control cylinder (11) and drive the first mozzle (10) to be adjusted.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810873219.0A CN109174513A (en) | 2016-10-20 | 2016-10-20 | Robot shells inner sunken face segmented spray equipment |
| CN201810873230.7A CN108940677A (en) | 2016-10-20 | 2016-10-20 | A kind of robot shells inner sunken face segmented spray equipment |
| CN201610914333.4A CN106311532B (en) | 2016-10-20 | 2016-10-20 | A kind of robot shells inner sunken face segmented spray equipment and its spraying method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610914333.4A CN106311532B (en) | 2016-10-20 | 2016-10-20 | A kind of robot shells inner sunken face segmented spray equipment and its spraying method |
Related Child Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810873219.0A Division CN109174513A (en) | 2016-10-20 | 2016-10-20 | Robot shells inner sunken face segmented spray equipment |
| CN201810873230.7A Division CN108940677A (en) | 2016-10-20 | 2016-10-20 | A kind of robot shells inner sunken face segmented spray equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106311532A true CN106311532A (en) | 2017-01-11 |
| CN106311532B CN106311532B (en) | 2018-09-25 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810873230.7A Withdrawn CN108940677A (en) | 2016-10-20 | 2016-10-20 | A kind of robot shells inner sunken face segmented spray equipment |
| CN201810873219.0A Withdrawn CN109174513A (en) | 2016-10-20 | 2016-10-20 | Robot shells inner sunken face segmented spray equipment |
| CN201610914333.4A Active CN106311532B (en) | 2016-10-20 | 2016-10-20 | A kind of robot shells inner sunken face segmented spray equipment and its spraying method |
Family Applications Before (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810873230.7A Withdrawn CN108940677A (en) | 2016-10-20 | 2016-10-20 | A kind of robot shells inner sunken face segmented spray equipment |
| CN201810873219.0A Withdrawn CN109174513A (en) | 2016-10-20 | 2016-10-20 | Robot shells inner sunken face segmented spray equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (3) | CN108940677A (en) |
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| CN2117212U (en) * | 1992-02-01 | 1992-09-30 | 侯致发 | Adjusting range and spraying nozzle |
| JP2006130406A (en) * | 2004-11-05 | 2006-05-25 | Kagawa Industry Support Foundation | Subcritical or supercritical fluid spraying nozzle, and producing method of fine particle |
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| KR20120084013A (en) * | 2011-01-19 | 2012-07-27 | 김영권 | Nozzle |
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| CN206122020U (en) * | 2016-10-20 | 2017-04-26 | 刘辉 | Shell concave curved surface of robot sectional type spraying device |
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| US4798341A (en) * | 1987-09-28 | 1989-01-17 | The Devilbiss Company | Spray gun for robot mounting |
| EP1955776A1 (en) * | 2007-02-09 | 2008-08-13 | Abb As | Method and apparatus for improved control of air pressure delivered to a spray applicator |
| CN104525418B (en) * | 2014-12-19 | 2017-02-08 | 天津立中车轮有限公司 | Mechanical arm special for automatic painting spraying of aluminum alloy wheel die and automatic painting spraying process |
| CN105214876A (en) * | 2015-09-29 | 2016-01-06 | 深圳瑞和建筑装饰股份有限公司 | From mobile spray robot |
| CN105396727B (en) * | 2015-11-23 | 2017-11-03 | 江苏长虹智能装备集团有限公司 | A kind of five degree of freedom hybrid mechanism sprayed for body of a motor car |
| CN105737919A (en) * | 2016-02-02 | 2016-07-06 | 贺成 | Insertion type ultrasonic flowmeter with washing sprayer |
| CN105459107B (en) * | 2016-02-16 | 2018-04-17 | 北京建筑大学 | A kind of mechanical arm for spraying large-diameter pipeline inner wall |
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- 2016-10-20 CN CN201810873230.7A patent/CN108940677A/en not_active Withdrawn
- 2016-10-20 CN CN201810873219.0A patent/CN109174513A/en not_active Withdrawn
- 2016-10-20 CN CN201610914333.4A patent/CN106311532B/en active Active
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|---|---|---|---|---|
| CN2117212U (en) * | 1992-02-01 | 1992-09-30 | 侯致发 | Adjusting range and spraying nozzle |
| JP2006130406A (en) * | 2004-11-05 | 2006-05-25 | Kagawa Industry Support Foundation | Subcritical or supercritical fluid spraying nozzle, and producing method of fine particle |
| CN200954472Y (en) * | 2006-09-04 | 2007-10-03 | 韩铁夫 | Thin-spray nozzle |
| KR20120084013A (en) * | 2011-01-19 | 2012-07-27 | 김영권 | Nozzle |
| CN105251629A (en) * | 2015-11-03 | 2016-01-20 | 吉首大学 | Water rotating gas direct spraying type pole plate spraying washing device |
| CN206122020U (en) * | 2016-10-20 | 2017-04-26 | 刘辉 | Shell concave curved surface of robot sectional type spraying device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109174513A (en) | 2019-01-11 |
| CN108940677A (en) | 2018-12-07 |
| CN106311532B (en) | 2018-09-25 |
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